/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_I2C_ESC Code for controlling I2C based ESCs
 * @brief Deals with the hardware interface to the magnetometers
 * @{
 *
 * @file       pios_i2c_esc.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      HMC5843 Magnetic Sensor Functions from AHRS
 * @see        The GNU Public License (GPL) Version 3
 *
 ******************************************************************************
 */
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "pios.h"

#ifdef PIOS_INCLUDE_I2C_ESC

/* Known i2c ESC addresses */
#define MK_I2C_ADDR     0x29
#define ASTEC4_I2C_ADDR 0x02

bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed);

uint8_t base_address = MK_I2C_ADDR;
uint8_t valid_motors = 0;
bool PIOS_I2C_ESC_Config()
{
    base_address = MK_I2C_ADDR;
    valid_motors = 0;
    for (uint8_t i = 0; i < 4; i++) {
        if (PIOS_SetMKSpeed(i, 0)) {
            valid_motors |= (1 << i);
        }
    }

    return true;
}

bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4])
{
    /*bool success = true;
       for(uint8_t i = 0; i < 4; i++) {
            //if(valid_motors & (1 << i))
                    success &= PIOS_SetMKSpeed(i, speed[i]);
       }
       return success; */

    const struct pios_i2c_txn txn_list[] = {
        {
            .info = __func__,
            .addr = MK_I2C_ADDR + 0,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speed[0]),
            .buf  = &speed[0],
        },
        {
            .info = __func__,
            .addr = MK_I2C_ADDR + 1,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speed[1]),
            .buf  = &speed[1],
        },
        {
            .info = __func__,
            .addr = MK_I2C_ADDR + 2,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speed[2]),
            .buf  = &speed[2],
        },
        {
            .info = __func__,
            .addr = MK_I2C_ADDR + 3,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speed[3]),
            .buf  = &speed[3],
        }
    };

    return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}

bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed)
{
    static uint8_t speeds[4] = { 0, 0, 0, 0 };

    if (motornum >= 4) {
        return false;
    }

    if (speeds[motornum] == speed) {
        return true;
    }

    const struct pios_i2c_txn txn_list[] = {
        {
            .info = __func__,
            .addr = MK_I2C_ADDR + motornum,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speed),
            .buf  = &speed,
        }
    };

    return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}

bool PIOS_SetAstec4Address(uint8_t new_address)
{
    if ((new_address < 0) || (new_address > 4)) {
        return false;
    }

    uint8_t data[4] = { 250, 0, new_address, 230 + new_address };

    const struct pios_i2c_txn txn_list[] = {
        {
            .info = __func__,
            .addr = ASTEC4_I2C_ADDR,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(data),
            .buf  = &data[0],
        }
    };

    return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}

bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed)
{
    static uint8_t speeds[5] = { 0, 0, 0, 0 };

    if ((motornum < 0) || (motornum >= 4)) {
        return false;
    }

    speeds[motornum] = speed;

    if (motornum != 3) {
        return true;
    }

    /* Write in chunks of four */
    speeds[4] = 0xAA + speeds[0] + speeds[1] + speeds[2] + speeds[3];

    const struct pios_i2c_txn txn_list[] = {
        {
            .info = __func__,
            .addr = ASTEC4_I2C_ADDR,
            .rw   = PIOS_I2C_TXN_WRITE,
            .len  = sizeof(speeds),
            .buf  = &speeds[0],
        }
    };

    return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}

#endif /* PIOS_INCLUDE_I2C_ESC */

/**
 * @}
 * @}
 */
